Research And Development On The Motion Control System Of Multifunctional Wheelchair

With the population aging problem is getting worse, and the continuous improvement of living standards, whether the older or physically-disabled man by Various situations need a wheelchair and other auxiliary tools, which will become an increasingly urgent demand. As an advanced means of transport, multifunctional wheelchair can help them improve their freedom of action, and reintegration into society. The motion control system as the core of multifunctional wheelchair directly affects the performance of multifunctional wheelchair, so the study on movement control system of multifunctional wheelchair has a profound meaning.We carried out needs analysis for multifunctional wheelchair and compared the current structure of several popular motion controller, combined with the current technical condition of the laboratory, and then, developed the movement control system of multifunctional wheelchair based on ARM + CPLD. In the paper, Firstly, we used SolidWorks2008 to design a mechanical structure of multifunctional wheelchair, which can achieve standing, sitting, and lying posture, and completed the kinematic modeling of multifunctional wheelchair; Secondly, we did a lot on the speed control algorithm of fuzzy PID for DC motor, completed the mathematics model of the DC, created the simulation model on MATLAB, and arrived a relatively good control; Thirdly, we designed the control sysytem of multifunctional wheelchair modularly, accomplished the relevant circuit board production and debugging, build a stable hardware platform of movement control system for multifunctional wheelchair; Finally, we developed software of the control system based on the hardware platform. the main work is as following: cut and transplant the Windows CE operating system, developed the bus driver whith Platform Builder 5.0, designed interactive interface program with EVC, implement fuzzy PID motion control algorithm on ARM, developed the program on CPLD by VHDL.By adjusted completely, the control system of multifunctional wheelchair achieved desired performance requirements, smooth velocity control, friendly human-machine interface and easy to upgrade and extend.